Theories are presented for the phonon inelastic scattering of molecules from surfaces. Both the molecule and the surface and bulk vibrations of the solid are treated in a fully quantum mechanical fashion. The models can include one- or multiphonon interactions and are thus applicable to both heavy and light gas species at both high and low beam energies. The method is a mean-field approach in that both the molecule and the bath are evolved simultaneously and self-consistently. The result is that the molecular wavefunction obeys a Schrodinger-like equation, but propagates on a gas-surface interaction potential which is both time- and temperature-dependent. The theory is easily implemented using spectral grid or semiclassical time-dependent scattering techniques, with only a small increase in computer requirements. The model is extended to the specific cases of atom- and diatom-metal scattering. Results are presented for H2, HD, D2, He, Ne and Ar scattered from metal surfaces.